CN109177975A - Integrated form cruise system exits method and device - Google Patents
Integrated form cruise system exits method and device Download PDFInfo
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- CN109177975A CN109177975A CN201810812680.5A CN201810812680A CN109177975A CN 109177975 A CN109177975 A CN 109177975A CN 201810812680 A CN201810812680 A CN 201810812680A CN 109177975 A CN109177975 A CN 109177975A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000036651 mood Effects 0.000 claims abstract description 18
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- 210000003205 muscle Anatomy 0.000 claims description 10
- 235000013399 edible fruits Nutrition 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 206010057315 Daydreaming Diseases 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 239000012141 concentrate Substances 0.000 description 25
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000006399 behavior Effects 0.000 description 4
- 231100001261 hazardous Toxicity 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0872—Driver physiology
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides a kind of integrated form cruise system and exits method and device, when method therein includes: that integrated form cruise system is in the open state, obtains driver status data；If the driver status data indicate that driver can not execute safe driving operation, the alarm signal for continuing preset time is issued to remind driver safety to drive.Above scheme provided by the invention, the driving state of driver is judged by obtaining driver status data, dangerous driving behavior of driver when using integrated form cruise system can be found in time, it is such as absent minded, changeable in mood, tired, it can be with timely and effective early warning, it is ensured that integrated form cruise system is used under the premise of driver's effective monitoring.
Description
Technical field
The present invention relates to the auxiliary driving technology fields of automobile, and in particular to a kind of integrated form cruise system exit method and
Device.
Background technique
Integrated form cruise is used as advanced driving assistance system (ADAS:Advanced Driver Ass istance
Systems major part) is used by more and more vehicle configurations at present.Its mainly by forward direction millimetre-wave radar and
Mega pixel infrared camera is realized as sensor, can be opened under the road conditions that lane line is clear or has front truck to guide.System
After unlatching, vehicle can be maintained among lane line and travel by pre-set driving condition parameter, at this point, system is automatically taken over
Brake, longitudinal acceleration, laterally turn control, gear switch etc. drive to manipulate, and driver need to only put both hands on the steering wheel, no
With steering torque is applied, environment is observed in real time, is ready to adapter tube Driving control.Therefore, integrated form cruises not
It is same as automatic Pilot, it is required that the both hands of driver are put on steering wheel, and is integrated if driver's both hands off-direction disk
Formula cruise system can automatically exit from.
However, integrated form cruise in the market is usually excessively interpreted by many drivers, by driver as automatic Pilot
Abuse, driver, arbitrarily by both hands off-direction disk, cause integrated form cruise system automatic during cruising using integrated form
It exits, and when integrated form cruise system exits only reminds driver within the very short time, if driver's attention at this time
It does not concentrate, may would not notice at this time if the not no adapter tube vehicle in time of driver, most probably causes vehicle on road
Oblique offset is dynamic, and even vehicle can be parked in road without issuing the hidden trouble of traffic such as any prompt, is very easy to that traffic occurs
Accident.
Summary of the invention
Present invention seek to address that integrated form cruise system is when exiting without reminding driver's adapter tube in time in the prior art
Traffic safety hidden danger caused by vehicle, and then a kind of integrated form cruise system is provided and exits method and device.
In order to solve the above technical problems, the present invention, which provides a kind of integrated form cruise system, exits based reminding method, feature exists
In, when including the following steps: that integrated form cruise system is in the open state, acquisition driver status data；If the driver
Status data indicates that driver can not execute safe driving operation, then issues the alarm signal for continuing preset time to remind driving
Member's safe driving.In above scheme, driver status can be got in real time when integrated form cruise system is in the open state
Data, according to driver status data judge driver whether can adapter tube vehicle at any time, when driver status data indicate it
When can not execute safe driving operation, standby signal can be continuously sent out over to remind driver to adjust the state of oneself, with
Guarantee when integrated cruise system exits can adapter tube vehicle in time, avoid the occurrence of traffic safety hidden danger.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, and integrated form cruise system is in the open state
When, obtain driver status data the step of in: the driver status data include that whether fatigue is driven for determining driver
The fatigue driving sailed determines result and/or for determining whether driver has the mood of unhealthy emotion to determine as a result, the fatigue
It drives and determines that result and/or mood determine that result is obtained according to the face recognition result to driver.In above scheme, according to driving
The person's of sailing face recognition result can precisely determine driver with the presence or absence of fatigue driving or unhealthy emotion, according to this judgement knot
Fruit can accurately determine whether driver being capable of adapter tube vehicle at any time.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: driver's shape
State data indicate that driver tired driving and/or while having unhealthy emotion control the integrated form cruise system and exit.Above scheme
In, if it is possible to determining that driver is in fatigue driving or there are unhealthy emotions, then it belongs to than relatively hazardous driving condition,
Therefore driver can not largely exit adapter tube vehicle at this time after reminding driver's adjustment state at any time
Integrated form cruise system.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, and integrated form cruise system is in the open state
When, obtain driver status data the step of in: the driver status data include for determining whether driver concentrates note
The attention of meaning power determines as a result, the attention determines that result is obtained according to the eyes coordinate tracking result of driver.More than
In scheme, it can precisely determine whether driver attention is concentrated according to the tracking result of driver's eyes coordinate, according to this
One judgement result can accurately determine whether driver being capable of adapter tube vehicle at any time.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: issuing the warning
In the first setting duration after signal, if the driver status data persistently indicate that driver attention does not concentrate, and controls
The integrated form cruise system exits.In above scheme, if driver attention does not concentrate, and prompted by prompt information
Driver focuses on afterwards, then without exiting integrated form cruise system.And if after having prompted driver's adjustment state,
In the range of the first setting duration, driver can not still focus on just exiting integrated form cruise system, according to
The attention concentration situation appropriate adjustment exit strategy of driver can be avoided the frequent start-stop of integrated form cruise system.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, and integrated form cruise system is in the open state
When, obtain driver status data the step of in: the driver status data further include that the both hands for determining driver are
The judgement of slipping out of the hand of no off-direction disk is as a result, described slip out of the hand determines that result is obtained according to driver's hand-power square testing result.More than
In scheme, it can precisely determine whether the both hands of driver are placed on the steering wheel according to driver's hand-power square testing result, root
Can accurately determine whether driver being capable of adapter tube vehicle at any time according to this judgement result.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: issuing the police
In the second setting duration after showing signal, the driver status data persistently indicate that driver attention does not concentrate and both hands are de-
From steering wheel, then controls the integrated form cruise system and exit.In above scheme, when detect driver attention do not concentrate,
And both hands off-direction disk, can further clarify driver can not adapter tube vehicle at any time, therefore when continuing the second setting
Integrated form cruise system is controlled after length to exit.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: issuing the police
In third setting duration after showing signal, the driver status data persistently indicate that driver attention concentrates but both hands are detached from
Steering wheel then controls the integrated form cruise system and exits, and the third setting duration is greater than the second setting duration.More than
In scheme, integrated form cruise system is not immediately exited from after detecting driver's both hands off-direction disk, but further
Determine whether driver being capable of adapter tube vehicle at any time by the attention judging result of driver.If driver attention collects
In, then can give driver's reasonable time (third setting duration) and enable it that both hands are placed on steering wheel, and if
Both hands are not placed on steering wheel still by driver in the time controls integrated form cruise system again and exits, when driver only
Be only because for integrated form cruise system function misunderstanding slip out of the hand when, it can be reminded to hold steering wheel in time using this programme.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: if controlling the collection
After accepted way of doing sth cruise system exits, driver's hand-power square is less than setting torque threshold, then controls vehicle and open double sudden strain of a muscle warning lamps.More than
In scheme, after integrated form cruise system exits, then further according to driver's hand-power square judge driver whether adapter tube vehicle,
Illustrate that driver does not take over vehicle if detecting that driver's hand-power square is less than setting torque threshold, controls at this time
Double sudden strain of a muscle warning lamps are opened, and with prompting, nearby vehicle avoids the occurrence of traffic accident far from this vehicle.
Optionally, above-mentioned integrated form cruise system exits in based reminding method, further includes following steps: working as on control vehicle edge
Preceding traveling lane continues to travel, while the travel speed for controlling vehicle is reduced to zero according to setting changing rule.In above scheme,
After integrated form cruise system exits, if detecting that driver does not take over vehicle, vehicle deceleration parking is controlled,
Failure is met in conjunction with the subsequent vehicle front truck of double sudden strain of a muscle alarming lamp prompts, to avoid traffic accident occurs.
The present invention also provides a kind of computer readable storage medium, it is stored in the storage medium for computer reading
Command information, computer, which is read, can be performed integrated form cruise system described in any of the above item after described instruction information and exits and mention
Awake method.In above scheme, the driving state of driver is judged by obtaining driver status data, can find to drive in time
Dangerous driving behavior of member when using integrated form cruise system, it is such as absent minded, changeable in mood, tired, can have in time
Imitate early warning, it is ensured that integrated form cruise system is used under the premise of driver's effective monitoring.It is exited in integrated form cruise system
Before can need driver's adapter tube vehicle in time in time by warning note danger, be exited in the case where unmanned adapter tube vehicle,
It is able to maintain and slowly stops on this lane, open double flashing lights, can effectively avoid vehicle and lateral shift occur and stop without warning.
The present invention also provides a kind of electronic equipment, including at least one processor and at least one processor, at least one
It is stored with command information in the memory, any of the above can be performed after reading described instruction information at least one described processor
Integrated form cruise system described in exits based reminding method.In above scheme, judge to drive by obtaining driver status data
The driving state for the person of sailing can find dangerous driving behavior of driver when using integrated form cruise system, such as attention in time
It does not concentrate, is changeable in mood, is tired, it can be with timely and effective early warning, it is ensured that integrated form cruise system is before driver's effective monitoring
Put use.Driver's adapter tube vehicle in time can be needed in time by warning note danger before integrated form cruise system exits,
It is exited in the case where unmanned adapter tube vehicle, is also able to maintain and slowly stops on this lane, opened double flashing lights, can effectively avoid vehicle
There is lateral shift and stops without warning.
The present invention also provides a kind of integrated form cruise systems to exit alarm set, comprising: driver state detecting portion's part is used
In detection driver status and export the driver status data comprising the driver status；Control unit, for integrated
When formula cruise system is in the open state, the driver status data that driver state detecting portion's part is sent are obtained；If institute
Stating driver status data indicates that driver can not execute safe driving operation, then issues alarm signal；Warning piece receives institute
After the alarm signal for stating control unit sending, driver safety is reminded to drive.In above scheme, in integrated form cruise system
Driver status data can be got when in the open state in real time, judge that driver whether can according to driver status data
Enough adapter tube vehicles at any time can be continuously sent out over when driver status data indicate that it can not execute safe driving operation
Standby signal is to remind driver to adjust the state of oneself, with guarantee when integrated cruise system exits being capable of adapter tube vehicle in time
, avoid the occurrence of traffic safety hidden danger.
Optionally, above-mentioned integrated form cruise system exits in alarm set, and driver state detecting portion's part includes
It is set to the infrared camera of steering wheel upper surface, the face-image of the infrared camera shooting driver, according to the face
Portion's image judges whether driver fatigue driving and/or has unhealthy emotion；The infrared camera output fatigue driving determines knot
Fruit and/or mood determine result.In above scheme, monitoring driver's face by infrared camera being capable of accurate judgement driver
Driving state, can find that driver attention such as does not concentrate, is changeable in mood, is tired at the states in time.
Optionally, above-mentioned integrated form cruise system exits in alarm set, and the infrared camera is also used to track institute
Whether the eyes coordinate for stating driver changes whether determining driver focuses on according to the eyes coordinate；It is described infrared
Camera is also used to export attention and determines result.In above scheme, driver can accurately be monitored by infrared camera
Eyes coordinate, thereby determines that whether the attention of driver is concentrated, and can accurately determine that driver is according to this judgement result
It is no being capable of adapter tube vehicle at any time.
Optionally, above-mentioned integrated form cruise system exits in alarm set, and driver state detecting portion's part includes
Electronic power assist steering module, the electronic power assist steering module obtain driver's hand-power square, are examined according to driver's hand-power square
Survey result judge driver both hands whether off-direction disk, the electronic power assist steering module, which exports to slip out of the hand, determines result.With
In upper scheme, driver's hand-power square can accurately be obtained by electronic power assist steering module, thus, it is possible to precisely determine driver
Both hands whether place on the steering wheel, can accurately determine whether driver being capable of adapter tube vehicle at any time according to this judgement result
?.
Optionally, above-mentioned integrated form cruise system exits in alarm set, and the control unit is also used to: if described drive
When the person's of sailing status data indicates driver tired driving and/or has unhealthy emotion, controls the integrated form cruise system and exit；
Or,
In the first setting duration after issuing the alarm signal, if the driver status data persistently indicate driver
It is absent minded, then it controls the integrated form cruise system and exits；Or,
It is issuing in the second setting duration after the alarm signal, the driver status data persistently indicate driver
Absent minded and both hands off-direction disk then controls the integrated form cruise system and exits；Or,
It is issuing in the third setting duration after the alarm signal, the driver status data persistently indicate driver
Attention is concentrated but both hands off-direction disk, then controls the integrated form cruise system and exit；
The second setting duration is less than the first setting duration, and the first setting duration is set less than the third
Duration.
In above scheme, the exit time of integrated form cruise system is divided into different situations, if it is possible to determine and drive
Member is in fatigue driving or there are unhealthy emotions, then it belongs to than relatively hazardous driving condition, therefore driver is largely
On can not adapter tube vehicle at any time can immediately exit from integrated form cruise system at this time after reminding driver's adjustment state
System；If driver attention does not concentrate, and driver focuses on after prompt information prompts, then without exiting
Integrated form cruise system；And if after having prompted driver's adjustment state, in the range of the first setting duration, driver according to
It can not so focus on just exiting integrated form cruise system；If driver attention does not concentrate and both hands are detached from
Steering wheel, can further clarify driver can not adapter tube vehicle at any time, therefore control after continuing the second setting duration integrated
Formula cruise system exits；If it is appropriate can to give driver it is noted that power concentration for driver's both hands off-direction disk
Time (third setting duration) enables it that both hands are placed on steering wheel, and if driver still will be not double within the time
Hand, which is placed on steering wheel, to be controlled integrated form cruise system again and exits, as driver only due to for integrated form cruise system
When function misunderstanding is slipped out of the hand, it can be reminded to hold steering wheel in time using this programme.Situation is concentrated according to the attention of driver
Appropriate adjustment exit strategy can be avoided the frequent start-stop of integrated form cruise system.
Optionally, above-mentioned integrated form cruise system exits in alarm set, and the control unit is also used in the collection
Accepted way of doing sth cruise system exit and driver's hand-power square be less than setting torque threshold when to body stabilization system send control signal with
It realizes:
It controls vehicle and opens double sudden strain of a muscle warning lamps；And/or
Control vehicle continues to travel along current driving lane, while controlling the travel speed of vehicle according to setting changing rule
It is reduced to zero.
In above scheme, after integrated form cruise system exits, then driver is further judged according to driver's hand-power square
Whether adapter tube vehicle, if detect driver's hand-power square be less than setting torque threshold if illustrate driver not to vehicle carry out
It takes over, the double warning lamps that dodge of control at this time are opened, and with prompting, nearby far from this vehicle, and further, control vehicle deceleration stops vehicle
Vehicle meets with failure in conjunction with the subsequent vehicle front truck of double sudden strain of a muscle alarming lamp prompts, to avoid traffic accident occurs.
Any of the above technical solution provided by the invention compared with prior art, at least has the advantages that
Integrated form cruise system provided by the invention exits method and device, is judged by obtaining driver status data
The driving state of driver can find dangerous driving behavior of driver when using integrated form cruise system in time, such as pay attention to
Power is not concentrated, is changeable in mood, is tired, can be with timely and effective early warning, it is ensured that integrated form cruise system is in driver's effective monitoring
Under the premise of use.Before integrated form cruise system exits driver's adapter tube vehicle in time can be needed in time by warning note danger
, it is exited in the case where unmanned adapter tube vehicle, is also able to maintain and slowly stops on this lane, opened double flashing lights, can effectively keep away
Exempt from vehicle lateral shift occur and stop without warning.
Detailed description of the invention
Fig. 1 is the flow chart that integrated form cruise system described in one embodiment of the invention exits based reminding method；
Fig. 2 is the flow chart that integrated form cruise system described in another embodiment of the present invention exits based reminding method；
Fig. 3 is the flow chart that integrated form cruise system described in further embodiment of the present invention exits based reminding method；
Fig. 4 is the flow chart that integrated form cruise system described in another embodiment of the invention exits based reminding method；
Fig. 5 is the structural block diagram that integrated form cruise system described in one embodiment of the invention exits alarm set；
Fig. 6 is the hardware structural diagram that integrated form cruise system described in one embodiment of the invention exits alarm set.
Specific embodiment
Below in conjunction with attached drawing, the embodiment of the present invention will be further explained.In the description of the present invention, it should be noted that art
The orientation or positional relationship of the instructions such as language "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the description that simplifies of the invention, rather than indicate or dark
Show that signified device or component there must be specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.Wherein, term " first position " and " second position " are two different positions.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
The connection of two component internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment 1
The present embodiment provides a kind of integrated form cruise systems to exit based reminding method, can be applied to the advanced driving auxiliary of vehicle
In system, as shown in Figure 1, it includes the following steps:
S101: when integrated form cruise system is in the open state, driver status data are obtained；The driver status number
According to heartbeat, pulse, facial expression, the eyes coordinate etc. that can be driver, select respective sensor in the prior art or
Detector is realized.
S102: if the driver status data indicate that driver can not execute safe driving operation, sending continues pre-
If the alarm signal of time is to remind driver safety to drive.The preset time may be configured as 5 seconds or more, the alarm signal
The mode that can be combined for sound or image or sound with image.
In the above scheme of the present embodiment, driving can be got in real time when integrated form cruise system is in the open state
Member's status data, according to driver status data judge driver whether can adapter tube vehicle at any time, when driver status data
When indicating that it can not execute safe driving operation, standby signal can be continuously sent out over to remind driver to adjust the shape of oneself
State, with guarantee when integrated cruise system exits can adapter tube vehicle in time, avoid the occurrence of traffic safety hidden danger.
Embodiment 2
Integrated form cruise system in the present embodiment exits based reminding method, and the driver status data include for determining
Whether the fatigue driving of fatigue driving determines result and/or for determining whether driver has the mood of unhealthy emotion to sentence to driver
Calmly as a result, the fatigue driving determines that result and/or mood determine that result is obtained according to the face recognition result to driver, face
Portion's recognition result can be realized by the first-class component of infrared photography.Existing infrared camera is internally provided with processing chip, when
After the face-image for detecting driver, intellectual analysis can be directly carried out according to testing result, obtain whether driver is tired
Labor has unhealthy emotion, and output end can directly export signal corresponding with testing result.According to drive r's face recognition
As a result it can precisely determine that driver with the presence or absence of fatigue driving or unhealthy emotion, can accurately sentence according to this judgement result
Whether determine driver being capable of adapter tube vehicle at any time.
On the basis of above scheme, as shown in Fig. 2, integrated form cruise system exit based reminding method may particularly include it is as follows
Step:
S201: when integrated form cruise system is in the open state, obtain for determine driver whether fatigue driving it is tired
Please it sails and determines result and/or for determining whether driver has the mood of unhealthy emotion to determine result；
S202: when the driver status data indicate driver tired driving and/or have unhealthy emotion, sending continues pre-
If the alarm signal of time is to remind driver safety to drive；
S203: it controls the integrated form cruise system and exits.
In the present solution, if can determine that driver is in fatigue driving or there are unhealthy emotion, belongs to and compare danger
The driving condition of danger, thus driver largely can not adapter tube vehicle at any time, reminding driver's adjustment at this time
After state, integrated form cruise system is exited.
Embodiment 3
Integrated form cruise system in the present embodiment exits based reminding method, and the driver status data include for determining
Attention that whether driver focuses on determine as a result, the attention determine result according to the eyes coordinate of driver with
Track result obtains.It can precisely determine whether driver attention is concentrated according to the tracking result of driver's eyes coordinate, root
Can accurately determine whether driver being capable of adapter tube vehicle at any time according to this judgement result.
On the basis of above scheme, as shown in figure 3, integrated form cruise system exit based reminding method may particularly include it is as follows
Step:
S301: it when integrated form cruise system is in the open state, obtains for determining what whether driver focused on
Attention determines result.
S302: it if the driver status data persistently indicate that driver attention does not concentrate, issues and continues preset time
Alarm signal to remind driver safety to drive；
S303: in the first setting duration after issuing the alarm signal, if the driver status data persistently indicate
Driver attention does not concentrate, then controls the integrated form cruise system and exit.
First setting duration therein may be selected to be 10s, 12s etc., if driver attention does not concentrate, and by mentioning
Driver focuses on after showing information alert, then without exiting integrated form cruise system.And if having prompted driver's tune
After whole state, in the range of the first setting duration, driver, which can not still focus on just exiting integrated form, to be patrolled
Boat system concentrates situation appropriate adjustment exit strategy to can be avoided the frequent of integrated form cruise system according to the attention of driver
Start and stop.
On the basis of above scheme, the driver status data further include for determining whether the both hands of driver take off
Judgement of slipping out of the hand from steering wheel is as a result, described slip out of the hand determines that result is obtained according to driver's hand-power square testing result.According to driving
Member's hand-power square testing result can precisely determine whether the both hands of driver are placed on the steering wheel, can according to this judgement result
Accurately to determine whether driver being capable of adapter tube vehicle at any time.
Correspondingly, exit in based reminding method can be as shown in figure 4, it includes the following steps: the integrated form cruise system
S401: it when integrated form cruise system is in the open state, obtains for determining what whether driver focused on
Whether slipping out of the hand for off-direction disk determines result to the both hands of attention judgement result and determining driver；
S402: if the driver status data persistently indicate driver attention and do not concentrate or both hands off-direction disk,
The alarm signal for continuing preset time is issued to remind driver safety to drive；
S403: it is issuing in the second setting duration after the alarm signal, the driver status data persistently indicate
Driver attention does not concentrate and both hands off-direction disk, thens follow the steps S405；
When detecting that driver attention do not concentrate and both hands off-direction disk, can further clarify driver without
Method adapter tube vehicle at any time, therefore control integrated form cruise system after continuing the second setting duration and exit.In this step, due to driving
The person of sailing is absent minded and both hands do not hold steering wheel, therefore danger classes is higher, so the second setting duration is shorter, it can
It is set as 3s, 5s etc..
S404: it is issuing in the third setting duration after the alarm signal, the driver status data persistently indicate
Driver attention concentrates and both hands off-direction disk, thens follow the steps S405；
S405: control integrated form cruise system exits.
Integrated form cruise system is not immediately exited from after detecting driver's both hands off-direction disk, but further
Determine whether driver being capable of adapter tube vehicle at any time by the attention judging result of driver.If driver attention collects
In, then can give driver's reasonable time (third setting duration) and enable it that both hands are placed on steering wheel, and if
Both hands are not placed on steering wheel still by driver in the time controls integrated form cruise system again and exits, when driver only
Be only because for integrated form cruise system function misunderstanding slip out of the hand when, it can be reminded to hold steering wheel in time using this programme.
Since driver attention is to concentrate in this step, danger classes is lower compared with step S403, so third is set
Duration can be greater than the second setting duration, and third setting duration may be selected to be 15s, 18s etc..
Embodiment 4
Integrated form cruise system in the present embodiment exits based reminding method, on the basis of in the above various embodiments, also wraps
Include following steps:
S406: if controlling after the integrated form cruise system exits, driver's hand-power square is less than setting torque threshold, then controls
Vehicle processed opens double sudden strain of a muscle warning lamps.After integrated form cruise system exits, then further judge to drive according to driver's hand-power square
Member whether adapter tube vehicle, if detect driver's hand-power square be less than setting torque threshold if illustrate driver not to vehicle into
Row is taken over, and the double warning lamps that dodge of control at this time are opened, and with prompting, nearby vehicle avoids the occurrence of traffic accident far from this vehicle.
S407: control vehicle continues to travel along current driving lane, while the travel speed for controlling vehicle becomes according to setting
Law is reduced to zero.After integrated form cruise system exits, if detecting that driver does not take over vehicle, control
Vehicle deceleration parking processed meets with failure in conjunction with the subsequent vehicle front truck of double sudden strain of a muscle alarming lamp prompts, to avoid traffic accident occurs.
Embodiment 5
The present embodiment provides a kind of computer readable storage medium, it is stored in the storage medium for computer reading
Command information, computer, which is read, can be performed integrated form cruise system described in any of the above item after described instruction information and exits and mention
Awake method.The command information that the present embodiment storage medium is stored can judge to drive by obtaining driver status data
The driving state of member can find dangerous driving behavior of driver when using integrated form cruise system, not such as attention in time
It concentrates, is changeable in mood, tired, it can be with timely and effective early warning, it is ensured that integrated form cruise system is the premise in driver's effective monitoring
Lower use.Driver's adapter tube vehicle in time can be needed in time by warning note danger before integrated form cruise system exits,
It is exited in the case where unmanned adapter tube vehicle, is also able to maintain and slowly stops on this lane, opened double flashing lights, can effectively avoid vehicle
There is lateral shift and stops without warning.
Embodiment 6
The present embodiment provides a kind of electronic equipment, including at least one processor and at least one processor, at least one
It is stored with command information in the memory, any of the above can be performed after reading described instruction information at least one described processor
Integrated form cruise system described in exits based reminding method.Electronic equipment provided in this embodiment, by obtaining driver status
Data judge the driving state of driver, can find dangerous driving row of driver when using integrated form cruise system in time
For, it is such as absent minded, changeable in mood, tired, it can be with timely and effective early warning, it is ensured that integrated form cruise system is that have in driver
It is used under the premise of effect monitoring.Before integrated form cruise system exits can in time by warning note danger, need driver and
When adapter tube vehicle, exited in the case where unmanned adapter tube vehicle, be also able to maintain and slowly stop on this lane, open pair flashing lights,
It can effectively avoid vehicle lateral shift occur and stop without warning.
Embodiment 7
The present embodiment provides a kind of integrated form cruise systems to exit alarm set, as shown in Figure 5, comprising:
Driver state detecting portion's part 501, for detecting driver status and exporting driving comprising the driver status
The person's of sailing status data；Control unit 502, for when integrated form cruise system is in the open state, obtaining driver status inspection
Survey the driver status data that component 501 is sent；The driver status data indicate that driver can not execute safety and drive
Operation is sailed, then issues alarm signal；Warning piece 503, after receiving the alarm signal that the control unit issues, prompting is driven
The person's of sailing safe driving.The control unit 502 can be the controller being separately provided, can also be using existing control on vehicle
Controller in system, the preferred controller using inside existing multi-functional front camera in integrated form cruise system.
Audio Players or car-mounted display component on instrument board may be selected in the warning piece 503, so as to realize sound, figure
The dual prompt of picture
Driver status data can be got in real time when integrated form cruise system is in the open state, according to driver
Status data judge driver whether can adapter tube vehicle at any time, when driver status data indicate that it can not execute safety and drive
When sailing operation, standby signal can be continuously sent out over to remind driver to adjust the state of oneself, to guarantee in integrated cruise system
System when exiting can adapter tube vehicle in time, avoid the occurrence of traffic safety hidden danger.
It should be noted that further include other components for realizing cruise function in integrated form cruise system, such as
It is engaged therewith also to need power control unit, wheel to millimetre-wave radar and mega pixel front camera before distance in 77GHZ
Fast sensor, car body controller etc., due to these components installation site and realize cruise during function and it is existing simultaneously
It is discussed in detail without difference, therefore no longer.
In above scheme, as shown in fig. 6, driver state detecting portion's part 501 includes being set to steering wheel upper surface
Infrared camera 11, the infrared camera 11 shoots the face-image of driver, judges to drive according to the face-image
Whether member fatigue driving and/or has unhealthy emotion；The infrared camera 11 exports fatigue driving and determines that result and/or mood are sentenced
Determine result.The driving state that driver's face is capable of accurate judgement driver is monitored by infrared camera 11, can be sent out in time
Existing driver attention such as does not concentrate, is changeable in mood, is tired at the states.
Further, the infrared camera 11 is also used to track the eyes coordinate of the driver, according to the eyes
Whether coordinate changes whether determining driver focuses on；The infrared camera 11 is also used to export attention and determines knot
Fruit.Driver's eyes coordinate can be accurately monitored by infrared camera 11, thereby determines that whether the attention of driver collects
In, can accurately determine whether driver being capable of adapter tube vehicle at any time according to this judgement result.
As shown in fig. 6, as a preferred solution, the integrated form cruise system exits alarm set, described to drive
The person's of sailing condition detection portion includes electronic power assist steering module 12, and the electronic power assist steering module 12 obtains driver's hand-power
Square, according to driver's hand-power square testing result judge driver both hands whether off-direction disk, the electronics power-assisted turn
It slips out of the hand to the output of module 12 and determines result.Driver's hand-power square can be accurately obtained by electronic power assist steering module 12, thus
It can precisely determine whether the both hands of driver are placed on the steering wheel, driver can accurately be determined according to this judgement result
Whether being capable of adapter tube vehicle at any time.
The control unit 502 is also used to:
If the driver status data indicate driver tired driving and/or have unhealthy emotion, control described integrated
Formula cruise system exits；Or, issuing in the first setting duration after the alarm signal, if the driver status data continue
It indicates that driver attention does not concentrate, then controls the integrated form cruise system and exit；Or, after issuing the alarm signal
In second setting duration, the driver status data persistently indicate that driver attention does not concentrate and both hands off-direction disk,
The integrated form cruise system is then controlled to exit；Or, issuing in the third setting duration after the alarm signal, the driving
Member's status data persistently indicates driver attention's concentration but both hands off-direction disk, then controls the integrated form cruise system and move back
Out；The second setting duration is less than the first setting duration, and the first setting duration is less than the third and sets duration.
The exit time of integrated form cruise system is divided into different situations, if it is possible to determine that driver drives in fatigue
Sail or there are unhealthy emotion, then it belongs to than relatively hazardous driving condition, therefore driver be largely can not be with
When adapter tube vehicle, at this time after reminding driver's adjustment state, integrated form cruise system can be immediately exited from；If driver
It is absent minded, and driver focuses on after prompt information prompts, then without exiting integrated form cruise system
System；And if in the range of the first setting duration, driver can not still be concentrated after having prompted driver's adjustment state
Attention can just exit integrated form cruise system；If driver attention does not concentrate and both hands off-direction disk, Neng Goujin
The clear driver of one step can not adapter tube vehicle at any time, therefore control integrated form cruise system after continuing the second setting duration and move back
Out；If driver's both hands off-direction disk is it is noted that power is concentrated, can giving driver's reasonable time, (third is set
Duration) enable it that both hands are placed on steering wheel, and if both hands are not still placed in direction by driver within the time
Integrated form cruise system is controlled on disk again to exit, as driver only due to slipping out of the hand for integrated form cruise system function misunderstanding
When, it can be reminded to hold steering wheel in time using this programme.Situation appropriate adjustment is concentrated to exit according to the attention of driver
Strategy can be avoided the frequent start-stop of integrated form cruise system.
Preferably, the control unit 502 is also used to exit in the integrated form cruise system and driver's hand-power square is small
Send control signal to body stabilization system 504 when setting torque threshold to realize: control vehicle unlatching is double to dodge warning lamp；
And/or control vehicle continues to travel along current driving lane, while controlling the travel speed of vehicle according to setting changing rule drop
Low is zero.After integrated form cruise system exits, then further according to driver's hand-power square judge driver whether adapter tube vehicle,
Illustrate that driver does not take over vehicle if detecting that driver's hand-power square is less than setting torque threshold, controls at this time
Double sudden strain of a muscle warning lamps are opened, and with prompting, nearby far from this vehicle, and further, control vehicle deceleration stops vehicle, are warned in conjunction with double sudden strains of a muscle
Show that lamp prompts subsequent vehicle front truck to meet with failure, to avoid traffic accident occurs.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (18)
1. a kind of integrated form cruise system exits based reminding method, which comprises the steps of:
When integrated form cruise system is in the open state, driver status data are obtained；
If the driver status data indicate that driver can not execute safe driving operation, the police for continuing preset time is issued
Show signal to remind driver safety to drive.
2. integrated form cruise system according to claim 1 exits based reminding method, which is characterized in that integrated form cruise system
When in the open state, obtain driver status data the step of in:
The driver status data include for determining whether the fatigue driving of fatigue driving determines result and/or use to driver
In determining whether driver has the mood of unhealthy emotion to determine as a result, the fatigue driving determines that result and/or mood determine knot
Fruit obtains according to the face recognition result to driver.
3. integrated form cruise system according to claim 2 exits based reminding method, which is characterized in that further include walking as follows
It is rapid:
The driver status data indicate driver tired driving and/or control the integrated form cruise system when having unhealthy emotion
System exits.
4. integrated form cruise system according to claim 1 exits based reminding method, which is characterized in that integrated form cruise system
When in the open state, obtain driver status data the step of in:
The driver status data include for determining that the attention whether driver focuses on determines as a result, the note
Meaning power determines that result is obtained according to the eyes coordinate tracking result of driver.
5. integrated form cruise system according to claim 4 exits based reminding method, which is characterized in that further include walking as follows
It is rapid:
In the first setting duration after issuing the alarm signal, if the driver status data persistently indicate that driver pays attention to
Power is not concentrated, then controls the integrated form cruise system and exit.
6. integrated form cruise system according to claim 4 exits based reminding method, which is characterized in that integrated form cruise system
When in the open state, obtain driver status data the step of in:
The driver status data further include for determine the both hands of driver whether off-direction disk slip out of the hand judgement as a result,
Described slip out of the hand determines that result is obtained according to driver's hand-power square testing result.
7. integrated form cruise system according to claim 6 exits based reminding method, which is characterized in that further include walking as follows
It is rapid:
It is issuing in the second setting duration after the alarm signal, the driver status data persistently indicate that driver pays attention to
Power is not concentrated and both hands off-direction disk, then controls the integrated form cruise system and exit.
8. integrated form cruise system according to claim 7 exits based reminding method, which is characterized in that further include walking as follows
It is rapid:
It is issuing in the third setting duration after the alarm signal, the driver status data persistently indicate that driver pays attention to
Power is concentrated but both hands off-direction disk, then controls the integrated form cruise system and exit, and the third setting duration is greater than described
Second setting duration.
9. exiting based reminding method according to integrated form cruise system described in claim 3 or 5 or 7 or 8, which is characterized in that also wrap
Include following steps:
If controlling after the integrated form cruise system exits, driver's hand-power square is less than setting torque threshold, then controls vehicle and open
Qi Shuan dodges warning lamp.
10. integrated form cruise system according to claim 9 exits based reminding method, which is characterized in that further include walking as follows
It is rapid:
Control vehicle continues to travel along current driving lane, while the travel speed for controlling vehicle is reduced according to setting changing rule
It is zero.
11. a kind of computer readable storage medium, which is characterized in that be stored in the storage medium for computer reading
The described in any item integrated form cruise systems of claim 1-10 can be performed after reading described instruction information in command information, computer
Exit based reminding method.
12. a kind of electronic equipment, which is characterized in that including at least one processor and at least one processor, at least one institute
It states and is stored with command information in memory, claim 1- can be performed after reading described instruction information at least one described processor
10 described in any item integrated form cruise systems exit based reminding method.
13. a kind of integrated form cruise system exits alarm set characterized by comprising
Driver state detecting portion's part, for detecting driver status and exporting the driver status comprising the driver status
Data；
Control unit, for when integrated form cruise system is in the open state, obtaining what driver state detecting portion's part was sent
The driver status data；If the driver status data indicate that driver can not execute safe driving operation, issue
Alarm signal；
Warning piece after receiving the alarm signal that the control unit issues, reminds driver safety to drive.
14. integrated form cruise system according to claim 13 exits alarm set, it is characterised in that:
Driver state detecting portion's part includes the infrared camera for being set to steering wheel upper surface, and the infrared camera is clapped
The face-image for taking the photograph driver judges whether driver fatigue driving and/or has unhealthy emotion according to the face-image；It is described
Infrared camera exports fatigue driving and determines that result and/or mood determine result.
15. integrated form cruise system according to claim 14 exits alarm set, it is characterised in that:
The infrared camera is also used to track the eyes coordinate of the driver, whether changes determination according to the eyes coordinate
Whether driver focuses on；The infrared camera is also used to export attention and determines result.
16. the described in any item integrated form cruise systems of 3-15 exit alarm set according to claim 1, it is characterised in that:
Driver state detecting portion's part includes electronic power assist steering module, and the electronic power assist steering module obtains driver
Hand-power square, according to driver's hand-power square testing result judge driver both hands whether off-direction disk, the electronics helps
The output of power steering module, which is slipped out of the hand, determines result.
17. the described in any item integrated form cruise systems of 3-15 exit alarm set according to claim 1, which is characterized in that institute
Control unit is stated to be also used to:
If the driver status data indicate driver tired driving and/or have unhealthy emotion, controls the integrated form and patrol
Boat system exits；Or,
In the first setting duration after issuing the alarm signal, if the driver status data persistently indicate that driver pays attention to
Power is not concentrated, then controls the integrated form cruise system and exit；Or,
It is issuing in the second setting duration after the alarm signal, the driver status data persistently indicate that driver pays attention to
Power is not concentrated and both hands off-direction disk, then controls the integrated form cruise system and exit；Or,
It is issuing in the third setting duration after the alarm signal, the driver status data persistently indicate that driver pays attention to
Power is concentrated but both hands off-direction disk, then controls the integrated form cruise system and exit；
The second setting duration is less than the first setting duration, when the first setting duration is set less than the third
It is long.
18. integrated form cruise system according to claim 17 exits alarm set, it is characterised in that:
The control unit is also used to exit in the integrated form cruise system and driver's hand-power square is less than setting torque threshold
When to body stabilization system send control signal to realize:
It controls vehicle and opens double sudden strain of a muscle warning lamps；And/or
Control vehicle continues to travel along current driving lane, while the travel speed for controlling vehicle is reduced according to setting changing rule
It is zero.
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| CN201810812680.5A CN109177975B (en) | 2018-07-23 | 2018-07-23 | Integrated cruise system exit method and device |
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|---|---|---|---|
| CN201810812680.5A CN109177975B (en) | 2018-07-23 | 2018-07-23 | Integrated cruise system exit method and device |
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| CN113492856B (en) * | 2021-07-15 | 2022-08-09 | 重庆长安汽车股份有限公司 | Cruise following parking waiting time control method and system, vehicle and storage medium |
| CN114312776A (en) * | 2021-12-30 | 2022-04-12 | 小米汽车科技有限公司 | Method, device and equipment for adjusting self-adaptive cruise starting duration and storage medium |
| CN114312776B (en) * | 2021-12-30 | 2022-09-30 | 小米汽车科技有限公司 | Method, device and equipment for adjusting self-adaptive cruise starting duration and storage medium |
| CN114435407A (en) * | 2022-03-24 | 2022-05-06 | 广州小鹏自动驾驶科技有限公司 | Vehicle control method and device and vehicle |
| CN115402255A (en) * | 2022-05-26 | 2022-11-29 | 北京罗克维尔斯科技有限公司 | Driving assistance function control method, driving assistance function control device, electronic device, medium, and vehicle |
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